EP1652635B1 - Dispositif de traitement des composants pour moyens de transport, notamment de traitement des sections d'avions - Google Patents

Dispositif de traitement des composants pour moyens de transport, notamment de traitement des sections d'avions Download PDF

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Publication number
EP1652635B1
EP1652635B1 EP05023245.3A EP05023245A EP1652635B1 EP 1652635 B1 EP1652635 B1 EP 1652635B1 EP 05023245 A EP05023245 A EP 05023245A EP 1652635 B1 EP1652635 B1 EP 1652635B1
Authority
EP
European Patent Office
Prior art keywords
holding frame
components
processing
component
handling system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
EP05023245.3A
Other languages
German (de)
English (en)
Other versions
EP1652635A2 (fr
EP1652635A3 (fr
Inventor
Henrik Linnemann
Holger Frauen
Thomas Gnauck
Eike Klemkow
Wolfgang Ende
Frank Neuhaus
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus Operations GmbH
Original Assignee
Airbus Operations GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Airbus Operations GmbH filed Critical Airbus Operations GmbH
Publication of EP1652635A2 publication Critical patent/EP1652635A2/fr
Publication of EP1652635A3 publication Critical patent/EP1652635A3/fr
Application granted granted Critical
Publication of EP1652635B1 publication Critical patent/EP1652635B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
    • B23P2700/01—Aircraft parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/10—Manufacturing or assembling aircraft, e.g. jigs therefor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49764—Method of mechanical manufacture with testing or indicating
    • Y10T29/49778—Method of mechanical manufacture with testing or indicating with aligning, guiding, or instruction
    • Y10T29/4978—Assisting assembly or disassembly
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y10T29/5116—Plural diverse manufacturing apparatus including means for metal shaping or assembling forging and bending, cutting or punching
    • Y10T29/5118—Riveting
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y10T29/5191—Assembly

Definitions

  • the invention relates to a device for processing components for means of transport, in particular for processing sections for aircraft, with a handling system carrying a holding frame, wherein the holding frame has at least one pressure stamp and / or at least one processing device.
  • Known devices for processing components comprise, for example, a manipulator system designed as an industrial robot with an articulated arm which can be positioned in several axes and on which a tool, for example a drilling device, a riveting device or the like, is arranged.
  • the drilling device can then be brought to the area of the component to be machined.
  • the articulated arm of the industrial robot must exert a sufficiently large mechanical force on the drilling apparatus in order to maintain the contact relationships between the component and the tool in accordance with the requirements of the machining process.
  • this mechanical force acts at least partially back on the industrial robot via the articulated arm.
  • 6,036,409 a portable power tool known for producing counterbores in workpieces, but which can only be precisely aligned due to a previously precisely drilled hole.
  • WO 2005/046931 A1 a device for processing of plates is known, in which a processing device is guided by a handling system to the workpiece to be machined, but must be performed on the other side of the plate by a corresponding on the opposite side of the processing device holding member, so that the plate by the Machining forces are not deformed.
  • the object of the invention is to provide a device for machining components with extensive geometric dimensions, which allows a spatially flexible and at the same time precise positioning of different tools in relation to the component, wherein the positioning system used for handling has a relatively simple mechanical design.
  • At least one attachment element is arranged in the region of the holding frame, secure positioning of the processing device is possible even on large-area components by means of a handling system carrying the holding frame, wherein the handling system can have a mechanically relatively light structural design and, in particular, need not have high inherent rigidity ,
  • At least one attachment element can be frictionally connected to a component surface and made detachable in order to minimize the reaction forces acting on the handling system by the at least one processing device and / or by the at least one pressure stamp. As a result, reaction forces are largely kept away from the handling system.
  • the holding frame can be positioned freely in space by means of the handling system with respect to the component surface.
  • This structural design allows a spatially flexible approach of the processing device to the component surface.
  • At least one pressure stamp on at least one actuator to allow positioning relative to the support frame. This makes it possible to position at least one plunger largely independent of the movement of the holding frame with respect to the component surface with even greater accuracy and / or defined force.
  • connection element has at least one actuator in order to enable a positioning relative to the support frame.
  • a further advantageous embodiment of the device according to the invention provides that at least one processing device has at least one actuator in order to enable positioning relative to the holding frame.
  • At least one pressure stamp and / or at least one attachment element has at least one force measuring sensor and / or displacement measuring sensor.
  • the connecting element or the connecting elements are preferably arranged distributed approximately uniformly spaced over a circumferential contour of the holding frame. Due to the symmetrical arrangement of the connecting elements resulting therefrom, this structural design makes it possible to introduce higher forces, caused by the machining device and / or the pressure stamp, into the component surface.
  • the holding frame has a polygonal geometric design with in particular four longitudinal sides. As a result, a simple manufacturability of the holding frame is given.
  • At least two connecting elements are designed to be displaceable on the longitudinal sides, in order to enable processing of the components in the region of a component end.
  • a more flexible deflection of the device during the machining of components with complex Bauteililstör Modellen is made possible.
  • longitudinal and transverse seams are processed to the end of the component.
  • the holding frame has at least two pivotable retaining arms, wherein the one or more connecting elements are arranged displaceably on the holder arms to allow processing of the components in the region of the component end.
  • This embodiment allows processing of the components up to a component end.
  • a more flexible evasion is possible in the occurrence of Bauteililstör Modellen.
  • At least one processing device is arranged within at least one plunger.
  • the plunger for example, at least two components stapled together in an overlap region can be pressed firmly against one another for processing, so that, for example, when introducing a bore by means of the processing device no chips get between the components and, moreover, a high accuracy of fit of the resulting bore can be achieved.
  • This also requires that at least one attachment element is positioned on each component.
  • a further advantageous embodiment of the invention provides that at least one attachment element has a sucker.
  • This makes it possible to transfer relatively large mechanical forces due to the ambient air pressure by means of the connecting elements from the holding frame to the component surface, so that outgoing from the processing device and / or the punch pressure forces are largely kept away from the handling system.
  • this structural design has the advantage that the connection elements can easily be detached again from the component surface. Furthermore, no component-side connection aids, such as stud bolts, mounting holes or the like are necessary.
  • At least one processing device is arranged within at least one sucker.
  • This embodiment enables a spatially more compact construction of the holding frame, because at least one attachment element concentrically encloses the processing device and the separate arrangement of at least one attachment element on the holding frame can be dispensed with. As a result, components can also be processed in hard to reach areas. Furthermore, this arrangement allows due to their symmetry, the effective and uniform transmission of any forces emanating from the processing device and / or the plunger. This arrangement represents, as it were, the ideal case of the principle of the local power dissipation according to the invention.
  • the Fig. 1 shows a side view of the device according to the invention with a holding frame according to a first embodiment.
  • the device comprises inter alia a handling system 1, which is fixedly mounted on an abutment 2.
  • the holding frame 4 is rigidly connected to a last axis of the handling system 1.
  • the holding frame 4 can be articulated via an additional joint to the last axis of the handling system 1.
  • the additional joint is formed stiffened.
  • the handling system 1 is designed, for example, as a known standard industrial robot or articulated-arm robot 5 having at least six axes, which enables almost any positioning of the holding frame 4 in relation to a component surface 8 formed by components 6, 7 in space.
  • the components 6, 7 are, for example, upper, lower or side shells as well as floor scaffolding for the formation of complete shell fuselage sections for aircraft, in particular for passenger or military aircraft.
  • the application of the device according to the invention is not limited to the section construction for aircraft.
  • the components 6, 7 overlap in an overlap region 9.
  • the components are stapled by stapling elements 10, 11.
  • the stapling elements 10,11 are, for example, in the form of a staple, a screw, a clamp connection or a comparable, detachable connection formed. Even a temporary stapling, for example by tack rivets, is possible.
  • the stapling of the components 6, 7 may alternatively also take place by means of a non-detachable connection at least in some areas, for example by means of stapling rivets, adhesive bonding, welding, compression, clamping or the like.
  • the upper stapling element 11 is not absolutely necessary in the exemplary embodiment illustrated here with the two components 6, 7 since the component 7 is sufficiently supported on the component 6.
  • the components 6, 7 are each intercepted on abutments 12, 13 in order to ensure the most precise possible positioning with respect to the handling system 1.
  • the abutments 12,13 may be formed, for example, as a support frame, as a support bearing or the like.
  • the abutments 12, 13 have the function of maintaining the relative position of the components 6, 7 to the handling system 1 during the machining process.
  • the absolute positioning or referencing of the handling system 1 with respect to the components 6,7 here must be done only with sufficient accuracy, since in addition a determination of the relative position of the support frame 4 with respect to the components 6,7 takes place, so that any positioning errors of the handling system 1 can be compensated.
  • the handling system 1 used within the device according to the invention must be designed mechanically only so strongly that it produces the forces resulting from the positioning process, which are caused inter alia by the movement of the mass of the processing device 15 and the holding frame 4 , can record.
  • the holding frame 4 has a plunger 14 and a processing device 15.
  • the processing device 15 is in the illustrated embodiment of Fig. 1 as a drilling device 16 for the introduction of holes in the Components 6.7, which can serve for example for receiving rivets formed.
  • the processing device 15 is designed to be displaceable on both sides by means of an actuator 17 in the direction of a longitudinal axis 18 and thus also movable in relation to the holding frame 4.
  • the processing device 15 has, for example, a riveting device, a welding device, in particular a laser welding device or a friction stir welding device, an adhesive device, a pressing device or the like.
  • the at least one processing device 15 may further be designed to be exchangeable, so that different processing devices 15 can be easily and quickly fastened to the holding frame 4 for different production or processing processes.
  • the pressure stamp 14 fixedly connected to the holding frame 4 serves, in particular, to press the components 6, 7 in the overlapping area 9 firmly against one another. As a result, it is avoided on the one hand that chips get between the components 6,7. On the other hand, a high degree of congruence is achieved between the partial bores formed in the components 6 and 7. This circumstance is of particular importance if, for example, rivets, screws or the like for connecting the components 6, 7 are to be introduced into the resulting bores.
  • the pressure stamp 14 is preferably designed such that it encloses the processing device 15 at least partially.
  • the holding frame 4 may deviate from the representation of Fig. 1 a plurality of plunger 14 and / or processing means 15 have.
  • the holding frame 4 has the visible attachment elements 19, 20.
  • the connecting elements 19,20 are positioned by actuators 21,22 relative to the support frame 4: Behind the connection elements 19,20 are offset to the rear - and therefore in the illustration of Fig. 1 concealed - another two connection elements, each with an actuator on the support frame 4 in correspondence provided to the connection elements 19,20 (see. Fig. 4 ).
  • the connecting elements 19,20 are designed as suckers 23,24.
  • the suckers 23,24 are formed with a resilient plastic material, which ensures a residue-free detachment from the component surface 8. The same applies to the non-visible, rear-lying connection elements.
  • the holding frame 4 can be frictionally connected to the component surface 8 as a result of the ambient air pressure, but if necessary it can also easily be removed from it. This results in a fixed and at the same time releasable connection between the holding frame 4 and the component surface 8.
  • the attachment means 19, 20 may also have, for example, magnets, adhesives, in particular artificial adhesion lamellae - which are modeled on the adhesion lamellae of geckos -, adhesives or the like.
  • each at least one support element 25,26 a so-called "hardpoint" is integrated.
  • the support elements 25,26 have at their ends directed to the component surface 8 respectively, in the illustration of Fig. 1 for the sake of clarity, not shown in detail plastic elements to form a support surface. The same applies to the non-visible, rear-lying connection elements.
  • the support elements 25,26 are in the evacuated state of the sucker 23,24 with their plastic elements as a support surface on the component surface 8 at. This results in an undefined deformation of the suckers 23,24 due to the connection to the component surface 8 and the evacuation and an undefined deformation of the suckers 23,24 by any forces emanating from the support frame 4 and a possibly resulting positioning error of the support frame 4 in relation to the component surface 8 avoided.
  • any reaction forces resulting from the processing device 15, for example reaction forces as a result of the feed of a drilling device 16 trained processing device 15 and / or reaction forces due to the contact pressure of the plunger 14 to the component surface 8, according to the invention are directly transferred to the components 6,7 and therefore can no longer act on the handling system 1.
  • the handling system 1 can therefore be designed mechanically less rigid and lighter.
  • an improved securing of the relative position of the processing device 15 to the components 6, 7 is achieved, as a result of which the process quality, for example in the form of the bore quality, is improved overall.
  • the force paths shortened according to the invention the load on the components 6, 7 is also considerably reduced.
  • the components 6, 7 can have any desired surface geometry, even deviating from a planar design.
  • the actuators 21,22 have piston rods 27,28, at the ends of the suckers 23,24 are articulated by joints 29,30 pivotally.
  • the joints 29,30 allow a connection of the suckers 23,24 also not flat, in particular curved component surfaces 8.
  • the piston rods 27,28 of the actuators 21,22 are formed with respect to the support frame 4 substantially vertically movable.
  • the actuators 21, 22 may also be arranged to be movable, in particular pivotable, relative to the holding frame 4.
  • the actuators 21,22 may be formed, for example, as a hydraulic or pneumatic cylinder.
  • electrically actuated spindle drives, rack drives or other linear drives can be provided.
  • the actuators 21, 22 can be designed such that they have a mobility in more than one spatial direction or one axis. The statements made above also apply accordingly to those in the Fig. 1 non-representable, rear-mounted actuators and suckers.
  • the holding frame 4 preferably has a square or rectangular plan geometry, wherein in corner regions, for example, four connection elements are arranged to achieve the most effective possible transfer of the reaction forces caused by the processing device 15 and / or the plunger 14 reaction forces on the component surface 8.
  • Deviating floor plan geometries for example circular, elliptical or combinations are alternatively possible (see in particular. Fig. 4 ).
  • the holding frame 4 is designed so that the suckers 23,24 are arranged as close as possible to the processing device 15.
  • a local "stiffening" of the components 6, 7 results in the area of action of the suckers 23, 24, in particular if they have only small material thicknesses.
  • the "stiffening" results essentially from a reduction of the deformable as a result of the processing device 15 component surface 8 due to the as close as possible to the processing device 15 positioned connecting elements 19,20 and the sucker 23,24.
  • mechanically labile components 6,7, such as thin sheets which are otherwise relatively easily deform at initiation processing-related compressive or tensile forces can be edited with the device according to the invention without the risk of undesirable deformations.
  • the positioning or referencing of the holding frame 4 and the plunger 14 is effected by a corresponding positioning of the handling system 1.
  • the connection elements 19,20 can be moved independently thereof relative to the holding frame 4 by means of the actuators 21,22.
  • the processing device 15 or the drilling device 16 itself is designed to be displaceable in relation to the holding frame 4 by means of the actuator 17 in the direction of the longitudinal axis 18, which runs essentially perpendicular to the component surface 8.
  • a "referencing" of the mounting frame 4 with respect to the components 6, 7 is initially carried out.
  • the term "referencing” in this context means the determination of the relative position of the components 6, 7 to the holding frame 4.
  • the referencing can by the recognition of reference features on the components 6, 7, for example in the form of bores, optical markings, component edges or the like.
  • the holding frame 4 is moved by means of the handling system 1 in such a way that the pressure punch 14 in the ideal case touches the component surface 8 without power or bears against it.
  • a position correction of the plunger 14 by means of a control and regulating device 31, which also serves to control the entire device, in particular the processing device 15, the actuators 17,21,22 and the sucker 23,24 occur.
  • the control and regulating device 31 is designed, for example, as a computer unit, in particular as a process computer unit. Following this, the connecting elements 19, 20 and the suckers 23, 24 are extended by means of the actuators 21, 22 and placed on the component surface 8.
  • the actuators 21, 22 may be designed, for example, as force-controlled pneumatic cylinders.
  • the placement of the suckers 23,24 takes place here with a force which is sufficiently large to ensure a secure seal of the suckers 23,24 during evacuation, but at the same time not to a change in the relative position between the components 6,7 and the plunger 14th leads. Then, the suckers 23,24 are completely evacuated, so that the holding frame 4 is connected via the actuators 21,22 due to the ambient air pressure frictionally connected to the components 6,7.
  • the support elements 25, 26 or the plastic elements arranged at their ends in this case rest firmly on the component surface 8.
  • the support members 25,26 prevent a change in position of the support frame 4 in relation to the component surface 8 due to uncontrolled deformation of the sucker 23,24 by the evacuation or an uncontrolled deformation of the sucker 23,24 by any forces emanating from the support frame 4 and possibly resulting positioning errors.
  • the suckers 23,24 can take in this process due to the joints 29,30 with respect to the support frame 4 also deviating from 90 ° angle.
  • the device according to the invention is therefore also suitable for machining component surfaces 8 with virtually any surface geometry, For example, for processing convex, concave, flat or irregularly curved surfaces, can be used.
  • the actuators 21, 22 can track the suckers 23, 24 moving as a result of the evacuation in the direction of the components 6, 7, that is to say the actuators 21, 22 can be extended in this direction.
  • the actuators 21, 22 are retracted, that is to say their direction of movement is reversed, so that a tensioning force is built up between the pressure piston 14 and the components 6, 7 or the component surface 8.
  • the positioning of the holding frame 4 with the processing device 15 takes place with respect to the components 6,7 by the handling system 1, while then only a passive fixation of the once occupied position of the holding frame 4 and the structure of the clamping force between the plunger via the connecting elements 19,20 14 and the components 6, 7 takes place.
  • a bore is introduced into the components 6, 7 by means of the machining device 15 designed, for example, as a drilling device 16, or other machining steps are performed.
  • Any reaction forces resulting from the actuation of the processing device 15 and / or the plunger 14, for example feed forces in the case of a drilling device, are picked up by the holding frame 4 and returned directly to the components 6, 7 by means of the connecting elements 19, 20, so that a local closed force ring forms.
  • the resulting reaction forces are thus no longer transferred back to the handling system 1, so that it can be interpreted constructively lighter and less rigid.
  • the actuators 21,22, the plunger 14, the processing device 15 and the handling system 1 may additionally be equipped with force measuring sensors and / or sensors for path detection, for example, in the case of a designed as a drilling device 16 processing device 15 acting on a drill and / or cutter Measure forces metrologically and adapted to vary the feed.
  • a force measurement may, for example, be tactile or via a current or voltage measurement in the region of a power control electronics, which is necessary for the operation of the actuators.
  • a path measurement can be carried out, for example, electro-optically by means of a laser, by means of a camera system, by an incremental path measurement or the like. The aim of the displacement and force measurements in the area of the connection elements and the pressure punch is a uniform as possible power distribution on all connection elements.
  • the device according to the invention permits a spatially precisely defined application of relatively large mechanical forces to the components 6, 7 or the component upper side 8, without these leading to a corresponding mechanical reaction on the handling system 1.
  • the device according to the invention therefore, especially large-size components 6, 7 can be subjected to a very precise machining.
  • Device is the handling system 1, for example, designed as a controllable in at least six axes standard industrial robot or articulated robot 5.
  • the Fig. 2 shows a detailed representation of the holding frame according to a second embodiment variant.
  • the holding frame 4 is in turn connected to the handling system 1 in the attachment point 3.
  • the holding frame 4 has the connection elements 19, 20 which are connected directly to the holding frame 4 via the joints 29, 30.
  • the connection elements 19, 20 are in turn designed as suckers 23, 24 with support elements 25, 26 located therein. Behind the connection elements 19,20 are offset with respect to the plane of the drawing to the rear - and therefore in the representation of Fig. 2 concealed - another two connection elements with support elements via joints on the support frame 4 in accordance with the arrangement of the connection elements 19,20 attached (see. Fig. 4 ).
  • the connection elements 19,20 have no actuators and are connected directly to the holding frame 4 via the joints 29,30.
  • the processing device 15 is arranged in the area of the holding frame 4, in turn, the processing device 15 is arranged.
  • the processing device 15 embodied by way of example as a drilling device 16 is connected to the holding frame 4 via the actuator 17.
  • the actuator 17 allows a displacement of the processing device 15 parallel to the longitudinal axis 18 in both directions.
  • the actuator 17 is fixedly connected to the holding frame 4.
  • the holding frame 4 has, in contrast to the plunger 14 in the embodiment in accordance with the Fig. 1 a pressure ram 32, which is formed in the direction of the longitudinal axis 18 and extendable, so on the in the representation of Fig. 2 not shown components 6, 7 pressed and can be lifted off this again.
  • To the plunger 32 to extend and retract another actuator 33 is present.
  • the holding frame 4 For processing the components 6, 7 by means of the processing device 15, the holding frame 4 is initially correspondingly positioned by means of the handling system 1 and subsequently by the connecting elements 19, 20, similar to FIG already mentioned in the description of the Fig. 1 executed, placed on the non-illustrated component surface 8 and fixed on this by evacuation of the sucker 23,24. Due to the lack of additional possibilities of movement of the connecting elements 19,20 - due to the non-existing actuators 21,22 - in this embodiment of the support frame 4 no or only a limited adaptability to different contours of the components 6,7 is possible. Subsequently, by means of the actuator 33 of the plunger 32 are extended, which presses the components 6,7 for processing by means of the processing device 15 in this process.
  • a tensioning force between the pressure ram 32 and the components 6, 7 or the component surface 8 is built up by the extension of the pressure ram 32.
  • the support elements 25,26 with the plastic elements are in this case on the component surface 8 and thus prevent a displacement of the support frame 4 in relation to the component surface 8 due to an undefined deformation of the sucker 23,24 as a result of evacuation and an undefined deformation of the suckers 23,24 any outgoing from the support frame 4 forces that could lead to positioning errors.
  • the structure of the tensioning force between the holding frame 4 and the components 6,7 takes place here solely by the actuation of the telescoping plunger 32 in the absence of the existing actuators 6. This results in a simplified construction of the holding frame 4 with a simultaneously reduced weight, however the connection elements 19,20 are not as flexible adaptable to different surface geometries of the components 6,7.
  • the processing device 15 By means of the processing device 15 embodied as a drilling device 16, it can in turn be moved by means of the actuator 17 in the direction of the component surface 8 for introducing the desired bores.
  • the actuator 17 in this case allows a very accurate variation of the force acting on the drilling device 16 feed forces and feed paths.
  • the actuator 17 and the actuator 33 for moving the plunger 32 can be equipped with force measuring sensors and / or displacement measuring sensors, not shown be to detect the forces and paths occurring and, for example, to control the control of the feed rate of a trained as a drilling device 16 processing device 15 accordingly.
  • the Fig. 3 shows a detailed view of the holding frame according to a third embodiment.
  • connection elements 19,20 which in turn with the actuators 21,22- in accordance with the in Fig.1 illustrated embodiment in relation to the support frame 4 are positionable.
  • the connecting elements 19,20 are designed as suckers 23,24.
  • the suckers 23, 24 are articulated by means of the joints 29, 30 to the piston rods 27, 28.
  • the support elements 25,26 are arranged, at the ends in turn is in each case a plastic element to form a support surface.
  • Behind the connection elements 19,20 are offset with respect to the plane of the drawing to the rear - and therefore in the representation of Fig. 3 concealed - another two connection elements with support elements via joints on the support frame 4 in accordance with the arrangement of the connection elements 19,20 attached (see. Fig. 4 ).
  • the processing device 15 or the drilling device 16 are also according to the first embodiment by means of the actuator 17 in the direction of the longitudinal axis 18 positionable.
  • the pressure piston 32 can be positioned by means of the actuator 33 in the direction of the longitudinal axis 18.
  • the Fig. 4 shows a plan view of the holding frame according to the first embodiment.
  • the holding frame 4 is firmly connected in the attachment point 3 with the handling system 1.
  • the connection elements 19,20 and in the Fig. 1 to 3 not representable, rear-lying connection elements 34,35 each arranged in corner regions of the holding frame 4.
  • the four connecting elements 19, 20 and 34, 35 are in turn designed as suckers 23, 24 and 36, 37.
  • the four sucker 23,24,36,37 have according to the embodiments described above, the support elements 25,26 and 41,42.
  • the four connection elements 19, 20, 34, 35 are each connected to the holding frame 4 by means of the actuators 21, 22, 38, 39 and can be moved substantially perpendicular to the plane of the drawing.
  • the plunger 14 is preferably arranged approximately centrally within the holding frame 4 by means of the webs 40.
  • the processing device 15 is finally positioned.
  • the processing device 15 can be positioned perpendicular to the plane of the drawing. From the positioning shown deviating arrangements of the plunger 14 and the processing device 15 on the support frame 4 are also possible.
  • the plunger 14 Deviating from the illustrated circular cross-section of the plunger 14, an alternative design is possible, which surrounds the processing device 15 only partially.
  • the plunger 14, for example, have a U-shaped cross-sectional geometry.
  • the support frame 4 may also be one of the representation of the Fig. 4 have different geometric shape.
  • the holding frame 4 may be, for example, rectangular, circular, elliptical or any combination thereof.
  • actuators 17,21,22,38,39 may be formed for example as a hydraulic or pneumatic cylinder. Alternatively or in combination can also be electrically or hydraulically operable spindle drives, rack drives or the like may be provided. Furthermore, the actuators 17,21,22,38,39 may be designed such that they have a mobility in more than one spatial direction or an axis and in each case at least one force measuring sensor and / or displacement sensor for detecting the position in space.
  • control and regulating device 31 By means of the control and regulating device 31, the actuators 17,21,22,38,39, the sucker 23,24,36,37, the plunger 14.32 and the handling system 1, taking into account of any measured values with the actuators 17,21 , 22,38,39 coupled force measuring sensors and / or displacement sensors controlled. Furthermore, the control and regulating device 31 also serves to control the negative pressure in the suckers 23,24,36,37.
  • the device may also have only at least two connecting elements 19,20.
  • the use of at least three connecting elements 19, 20, 34 results in a tighter fit of the holding frame 4 on the component surface 8, so that the holding frame 4 in particular can no longer tilt along an axis of symmetry and overall results in a more stable machining process.
  • the Fig. 5 shows a further embodiment of the holder frame 4 in a plan view.
  • connection elements 19,20,34,35 formed as suction cups 23,24,36,37 are arranged.
  • the connection elements 19, 20, 34, 35 can be moved substantially perpendicular to the plane of the drawing by the actuators 21, 22, 38, 39.
  • the processing device 15 and the actuator 17 are connected to the support frame 4.
  • the processing device 15 is here in the immediate vicinity of a component end 47.
  • the connection elements 19,20,34,35 have according to the embodiment in accordance with the Fig. 4 the support elements 25,26,41,42 on.
  • the holding frame 4 is connected in the attachment point 3 in a known manner with the handling system 1.
  • the connecting elements 19,20 in the form of suckers 23,24 including the actuators 21,22 along longitudinal sides 43,44 of the holding frame 4 in the direction of arrows 45,46 by means not shown actuators on the support frame 4 slidably formed.
  • the attachment elements 19, 20 shown in dashed lines represent an exemplary travel position of the attachment elements 19, 20 including the actuators 21, 22 and the support elements 25, 26.
  • the connecting elements 19, 20 are displaced so far that they still rest completely on the component surface 8 in order to ensure a secure connection of the holding frame 4 to the latter.
  • This embodiment enables a secure connection of the holding frame 4 by the connecting elements 19,20,34,35 also for the case that a processing of the components 6,7 should be made in the immediate vicinity of the component end 47.
  • the displaceability of the connection elements allows a more flexible evasion in the event that in the path of movement of the device according to the invention component disturbing structures are in the way.
  • the movements and the positions of all actuators are controlled and coordinated.
  • the Fig. 6 shows a further embodiment of the holding frame 4 in a plan view.
  • the plunger 14, the processing device 15 and the actuator 17 are also connected via the webs 40 to the support frame 4 corresponding to the embodiment described above.
  • the processing device 15 is located in the region of the component end 47.
  • the holding frame 4 is connected in a known manner in the attachment point 3 with a handling system 1, not shown.
  • the holding frame 4 forms with the longitudinal sides 43,44,48,49 a substantially square arrangement. Deviating from this, rectangular, polygonal or other geometric arrangements are possible.
  • a respective holding arm 54,55,56,57 is arranged in four corner points 50,51,52,53 of the holding frame 4.
  • the support arms 54 and 55 are, as indicated by the arrows 58,59, not by means illustrated actuators pivotally formed.
  • the retaining arms 56 and 57 can also be designed so as to be pivotable about the corner points 52, 53.
  • connecting elements 60,61,62,63 respectively in the direction of the arrows 64,65,66,67 on the support arms 54 to 57 by means not shown actuators are slidably formed.
  • the connection elements 60 to 63 have the actuators 68, 69, 70, 71.
  • the connecting elements 60 to 63 are displaceable substantially perpendicular to the plane of the drawing.
  • the connecting elements 60 to 63 are designed as suction cups 72, 73, 74, 75, each of which has a support element, not shown for the sake of clarity.
  • the support elements serve, corresponding to the above-described embodiments of the support frame 4 (see. Fig. 4 and 5 ), especially for supporting the connecting elements 60 to 63 on the component surface 8.
  • the dashed lines shown connecting elements 60,61 represent an occupied by the pivoting of the support arms 54,55, exemplary position of the connection elements 60,61 in the region of the component end 47th Die Gararme 54 are in this case pivoted so far that the connection elements 60,61 just completely rest on the component surface 8 in order to ensure a still secure connection of the support frame 4.
  • the components 6, 7 can also be processed in the region of the component end 47 by means of the processing device 15, since a secure connection of the holding frame 4 by means of the pivoted connection elements 60, 61 and the connection elements 62, 63 is still possible.
  • the pivotability of the connection elements allows a more flexible evasion in the event of the appearance of Bauteililstör Modellen.
  • suckers of the teat 72 of the connection element 60 is formed here rectangular.
  • the rectangular shape of the teat 72 allows in the pivoting position of the connecting element 60 shown in dashed lines an even closer positioning of the teat 72 with respect to the component end 47 and thus a processing of the components 6,7 with the processing device 15 in the immediate vicinity of the component end 47.
  • the circular suction cups 73,74,75 allows the rectangular suction cup 72 a further minimization of the distance to the component end 47.
  • the other suckers 73 to 75 may, if necessary, also rectangular, be formed square or in any, suitable for distance minimization, deviating from the circular shape geometric shape.
  • the Fig. 7 shows a perspective view of a printing stamp.
  • the plunger 14 presses the components 6,7 down for processing. Any stapling agents are not shown for clarity.
  • the pressure stamp 14 is formed substantially hollow cylindrical and encloses the processing device 15 and the drilling device 16 along its longitudinal axis 18 partially.
  • the Fig. 8 shows a variant of a printing stamp.
  • a plunger 76 is formed substantially L-shaped.
  • the plunger 76 has inter alia a holder 77.
  • a pressure surface 78 is arranged approximately perpendicular to the bracket 77 at its lower end.
  • the pressure surface 78 extends approximately parallel to the component surface 8 or to the components 6, 7.
  • Any stapling agents are not shown for clarity. So that the processing device 15 can reach the component surface 8 along the longitudinal axis 18 or can penetrate the pressure surface 78, the pressure surface 78 correspondingly has, in the Fig. 6 not shown recesses for performing the processing device 15.
  • the plunger 76 is by means of the control and regulating device (see. Fig. 1 . 4 ) controllable. Further embodiments for plunger 14,32,76 are conceivable.
  • the Fig. 9 shows the example of the connecting element 19 a cross section through a circular sucker.
  • the following explanations apply accordingly to suckers with a rectangular or other geometric shape.
  • the attachment element 19 has the sucker 23.
  • the sucker 23 is formed with a resilient plastic material, which ensures a residue-free detachment from the component surface 8.
  • the sucker 23 has a cup-shaped substantially geometric shape. With a circular edge area 79, the sucker rests on the component surface 8 or one of the components 6, 7.
  • a fastening means 80 is firmly connected thereto.
  • the attachment means 80 serves to connect the nipple 23 to other, not shown, organs, such as actuators or the like.
  • the fastening means 80 also has a bore 81. By means of the bore 81, a negative pressure can be built up within the teat 23 via further air bores 82, 83 or else compressed air can be injected into it. By injecting compressed air into the vacuum cleaner 23, it can be lifted off the component surface 8 very quickly and above all without power.
  • the fastening means 80 is designed as a support element 84 or functionally as a "support foot” or as a so-called "hardpoint".
  • the support element 84 has a support element 85 made of a suitable material, in particular a plastic material which ensures a residue-free detachment from the component surface 8.
  • a suitable material in particular a plastic material which ensures a residue-free detachment from the component surface 8.
  • pressing the nipple 23 before evacuation results in forces of different magnitude acting on the component surface 8 and the handling system 1. If these forces are sufficiently small, the sucker 23 can also be pressed against the component surface 8 until it contacts the support element 85 or the "hard point" formed by the support element 84 and the support surface 85.
  • deformations of the teat 23 are avoided by forces emanating from the holding frame 4, since these are derived directly from the support member 84 in connection with the support member 85 on the component surface 8. In this way, any displacements of the suction cup 23, which is formed at least partially from a flexible plastic material, with respect to the component top side 8, possibly lead to positioning errors between the fastener 80 and the component surface 8 can be reduced.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Claims (19)

  1. Dispositif d'usinage de pièces structurales (6, 7) pour des moyens de transport, en particulier pour l'usinage de sections pour des aéronefs, comportant un système de manutention (1) portant un cadre de support (4), le cadre de support (4) présentant au moins un piston-chasse (14, 32, 76) et/ou au moins un moyen d'usinage (15),
    caractérisé en ce que, au niveau du cadre de support (4), au moins un élément de liaison (19, 20, 34, 35, 60-63) agissant par complémentarité de force est disposé pour relier une surface de la pièce structurale, le cadre de support (4) est positionnable librement dans l'espace par rapport à la surface (8) de la pièce structurale au moyen du système de manutention (1), aucune assistance de liaison du côté de la pièce structurale n'est nécessaire pour l'usinage et le dispositif est agencé en place pour usiner les pièces structurales (6, 7) sans systèmes intérieurs par rapport à leur appui, dans lequel l'au moins un élément de liaison (19, 20, 34, 35, 60-63) s'adapte automatiquement au contour de la pièce structurale (6, 7) à usiner.
  2. Dispositif selon la revendication 1, caractérisé en ce qu'au moins un élément de liaison (19, 20, 34, 35, 60-63) est réalisé de manière à pouvoir être relié à une surface (8) de la pièce structurale et détaché de celle-ci par complémentarité de force, afin de minimiser les forces de réaction qui agissent sur le système de manutention (1) par l'intermédiaire de l'au moins un moyen d'usinage (15) et/ou de l'au moins un piston-chasse (14, 32, 76), par le biais d'une dérivation sur la surface (8) de la pièce structurale.
  3. Dispositif selon la revendication 1 ou 2, caractérisé en ce qu'au moins un piston-chasse (14, 32, 76) présente au moins un actionneur (33), afin de permettre un positionnement par rapport au cadre de support (4).
  4. Dispositif selon une des revendications 1 à 3, caractérisé en ce qu'au moins un élément de liaison (19, 20, 34, 35, 60-63) présente au moins un actionneur (21, 22, 38, 39, 68-71), afin de permettre un positionnement par rapport au cadre de support (4).
  5. Dispositif selon une des revendications 1 à 4, caractérisé en ce qu'au moins un moyen d'usinage (15) présente au moins un actionneur (17), afin de permettre un positionnement par rapport au cadre de support (4).
  6. Dispositif selon une des revendications 1 à 5, caractérisé en ce qu'au moins un piston-chasse (14, 32, 76) et/ou moins un élément de liaison (19, 20, 34, 35, 60-63) présente au moins un capteur de mesure de force et/ou un capteur de mesure de distance.
  7. Dispositif selon une des revendications 1 à 6, caractérisé en ce que l'élément ou les éléments de liaison (19, 20, 34, 35, 60-63) sont de préférence à peu près régulièrement répartis à distance les uns des autres sur un contour circonférentiel du cadre de support (4).
  8. Dispositif selon une des revendications 1 à 7, caractérisé en ce que le cadre de support (4) présente une configuration géométrique polygonale qui comporte en particulier quatre côtés longitudinaux (43, 44, 48, 49).
  9. Dispositif selon une des revendications 1 à 8, caractérisé en ce qu'au moins deux éléments de liaison (19, 20, 34, 35, 60-63) sont réalisés déplaçables sur les côtés longitudinaux (43, 44, 48, 49), afin de permettre un usinage des pièces structurales (6, 7) au niveau d'une extrémité (47) des pièces structurales.
  10. Dispositif selon une des revendications 1 à 9, caractérisé en ce que le cadre de support (4) présente au moins deux bras de retenue pivotants (54, 55, 56, 57), le ou les éléments de liaison (19, 20, 34, 35, 60-63) étant disposés déplaçables sur les bras de retenue (54, 55, 56, 57), afin de permettre un usinage des pièces structurales (6, 7) au niveau de l'extrémité (47) des pièces structurales.
  11. Dispositif selon une des revendications 1 à 10 caractérisé en ce qu'au moins un piston-chasse (14, 32, 76) est disposé à l'intérieur du cadre de support (4).
  12. Dispositif selon une des revendications 1 à 11 caractérisé en ce qu'au moins un moyen d'usinage (15) est disposé à l'intérieur d'au moins un piston-chasse (14, 32, 43).
  13. Dispositif selon une des revendications 1 à 12, caractérisé en ce qu'au moins un élément de liaison (19, 20, 34, 35, 60-63) présente un aspirateur (23, 24, 36, 37, 72-75).
  14. Dispositif selon une des revendications 1 à 13, caractérisé en ce qu'au moins un moyen d'usinage (15) est disposé à l'intérieur d'au moins un aspirateur (23, 24, 36, 37, 72-75).
  15. Dispositif selon une des revendications 1 à 14, caractérisé en ce qu'au moins un moyen d'usinage (15) présente au moins un moyen d'usinage des pièces structurales (6, 7) par enlèvement de copeaux, en particulier un dispositif à percer (16) et/ou un dispositif à fraiser.
  16. Dispositif selon une des revendications 1 à 15, caractérisé en ce qu'au moins un moyen d'usinage (15) présente au moins un moyen d'assemblage des pièces structurales (6, 7), en particulier une machine à riveter, une machine à souder, un dispositif à comprimer, un dispositif à serrer, un dispositif à coller ou similaire.
  17. Dispositif selon une des revendications 1 à 16, caractérisé en ce qu'au moins un moyen d'usinage (15) présente au moins un moyen de traitement de surface des pièces structurales (6, 7), en particulier un dispositif à rectifier et/ou à polir.
  18. Dispositif selon une des revendications 1 à 17, caractérisé en ce que le dispositif présente un moyen de commande et de réglage (31), en particulier pour contrôler le système de manutention (1), le piston-chasse (14, 32, 76), le moyen d'usinage (15) ainsi que les actionneurs (17, 21, 22, 33, 38, 39, 68-71).
  19. Dispositif selon une des revendications 1 bis 18, caractérisé en ce que le système de manutention (1) présente au moins un robot industriel standard, en particulier un robot à bras articulé (5).
EP05023245.3A 2004-10-26 2005-10-25 Dispositif de traitement des composants pour moyens de transport, notamment de traitement des sections d'avions Expired - Fee Related EP1652635B1 (fr)

Applications Claiming Priority (1)

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DE102004051915A DE102004051915B4 (de) 2004-10-26 2004-10-26 Vorrichtung zur Bearbeitung von Bauteilen für Verkehrsmittel

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EP1652635A2 (fr) 2006-05-03
US20060143890A1 (en) 2006-07-06
DE102004051915B4 (de) 2012-11-22
US7430792B2 (en) 2008-10-07
CA2524137C (fr) 2012-12-18
EP1652635A3 (fr) 2007-10-31
CA2524137A1 (fr) 2006-04-26
DE102004051915A1 (de) 2006-04-27

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